| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so-101 |
| - evaluation |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # SO-101 push-green-button evaluation rollouts |
|
|
| Merged LeRobot v3 dataset containing 1955 single-arm SO-101 evaluation episodes |
| (491,385 frames at 20 FPS) from 38 source datasets recorded August 25–September 16, 2026. |
| All sources share the same state/action schema and `front`, `top`, and `wrist` |
| camera configuration. The task instruction is normalized to |
| `push the green button`. |
|
|
| This is the AutoRLBench home of the dataset previously published as |
| [`villekuosmanen/eval_push_green_button_merged`](https://huggingface.co/datasets/villekuosmanen/eval_push_green_button_merged) |
| (198 episodes from 15 sources, August 25–31). This revision adds 23 later |
| eval and RLT green-button runs (1757 episodes). |
|
|
| ## Visualization |
|
|
| [Open episode 0 in the LeRobot Dataset Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=AutoRLBench%2Feval_push_green_button_merged&episode=0). |
|
|
| ## Success labels |
|
|
| Every source episode has complete per-frame BusyBox state. The episode-level |
| `success` column is true exactly when `busybox.button.green_button` contains |
| one rising edge during the episode. Other press counts (0 or ≥2) are labeled |
| failure. RoboCandyWrapper `busybox_state` sidecars are retained and |
| renumbered to the merged episode indices. |
|
|
| | policy_type | episodes | successes | success rate | |
| | --- | ---: | ---: | ---: | |
| | eval | 332 | 117 | 35.2% | |
| | rlt | 1623 | 879 | 54.2% | |
| | **total** | **1955** | **996** | **50.9%** | |
| |
| ## Provenance |
| |
| `meta/episodes` records `source_repo_id`, `source_revision`, |
| `source_episode_index`, `policy_type`, `success`, `success_category`, |
| `green_button_press_count`, `success_source`, `task_id`, and |
| `task_instruction`. |
|
|
| ## Sources |
|
|
| Original 15 sources (August 25–31) plus later `villekuosmanen/eval_push_green_button_*` |
| and `villekuosmanen/eval_rlt_push_green_button_*` runs with complete BusyBox |
| coverage and a green-button instruction. One RLT run used tagged language |
| (`push the green button [base]` / `[frozen_rlt]`); those tags were collapsed |
| to the canonical instruction. Empty, incomplete, and non-green-button |
| language runs were left out. |
|
|
